version: 66.09
glider: 181
mission: 5
dive: 6
start: 4 19 111 21 13 4
data:
$ID,181
$MISSION,5
$DIVE,6
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51561
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39100.707
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2415
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.924549
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,119
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,10.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,10.0
$GPS1,190411,210708,4744.048,-12224.514,12,1.6,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-69.7
$GPS2,190411,211231,4744.047,-12224.464,14,1.7,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,195.2,1214,-17.5,-10.000
$D_GRID,174
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.73,-146.6,0.0,0.0,0,118,0.00,0.00,-93.47,0.000,2,0.000,0.000,212,2308,3279,0,0,0,0,0,0
$GC,121,-0.73,-146.6,3.8,-7.4,13,146,8.62,2.30,-6.53,0.000,4,0.269,0.071,2163,3695,3599,0,0,0,0,0,0
$GC,206,-0.15,-146.6,27.8,-23.7,27,215,0.68,2.28,0.00,0.000,6,0.168,0.047,2361,2297,3600,0,0,0,0,0,0
$GC,348,-0.58,-146.6,38.8,-5.5,52,356,0.35,0.00,0.00,0.000,6,0.054,0.000,2210,2297,3601,0,0,0,0,0,0
$GC,486,-0.27,-146.6,59.6,-16.2,77,495,0.38,2.35,0.00,0.000,4,0.161,0.061,2316,3704,3601,0,0,0,0,0,0
$GC,540,-0.58,-146.6,65.4,-10.2,86,549,0.22,2.25,0.00,0.000,6,0.047,0.044,2211,2302,3601,0,0,0,0,0,0
$GC,681,-0.33,-146.6,86.7,-16.2,111,689,0.30,2.33,0.00,0.000,4,0.155,0.061,2295,3700,3601,0,0,0,0,0,0
$GC,736,-0.58,-146.6,93.0,-10.3,120,745,0.17,2.22,0.00,0.000,6,0.050,0.046,2208,2313,3601,0,0,0,0,0,0
$GC,876,-0.27,-146.6,112.4,-15.2,145,885,0.38,2.28,0.00,0.000,4,0.154,0.052,2325,890,3605,0,0,0,0,0,0
$GC,931,-0.58,-146.6,117.8,-10.8,154,940,0.22,2.30,0.00,0.000,6,0.048,0.054,2217,2305,3603,0,0,0,0,0,0
$GC,1072,-0.40,-146.6,137.1,-15.9,179,1081,0.25,2.30,0.00,0.000,4,0.167,0.063,2288,3704,3601,0,0,0,0,0,0
$GC,1185,-0.68,-146.6,148.4,-8.6,199,1195,0.22,2.20,0.00,0.000,6,0.047,0.046,2184,2327,3601,0,0,0,0,0,0
$STATE,1201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1207,-0.16,0.0,150.1,8.7,201,1319,0.57,0.00,107.28,0.631,4,0.161,0.000,2357,2084,3001,0,0,0,0,0,0
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,0.73,146.6,157.0,0.0,216,1458,0.85,2.33,112.05,0.597,4,0.105,0.052,2648,696,2401,0,0,0,0,0,0
$GC,1635,0.36,146.6,123.1,16.0,265,1644,0.38,2.30,0.00,0.000,6,0.168,0.045,2539,2099,2393,0,0,0,0,0,0
$GC,1775,0.51,182.7,109.8,8.3,290,1814,0.12,2.30,27.23,0.591,4,0.096,0.047,2600,705,2255,0,0,0,0,0,0
$GC,1950,0.51,182.7,89.7,11.3,320,1958,0.00,2.33,0.00,0.000,6,0.000,0.047,2600,2129,2251,0,0,0,0,0,0
$GC,2089,0.37,182.7,74.6,10.2,345,2098,0.22,0.00,0.00,0.000,6,0.161,0.000,2539,2129,2249,0,0,0,0,0,0
$GC,2228,0.69,276.5,65.6,5.7,370,2306,0.25,2.30,70.43,0.563,4,0.069,0.054,2650,3514,1872,0,0,0,0,0,0
$GC,2385,0.55,276.5,43.5,15.4,394,2394,0.20,2.25,0.00,0.000,6,0.158,0.042,2595,2138,1867,0,0,0,0,0,0
$GC,2525,0.66,286.8,28.6,9.5,419,2541,0.00,2.33,8.07,0.531,4,0.000,0.050,2605,682,1827,0,0,0,0,0,0
$GC,2592,0.89,296.4,21.7,9.6,430,2610,0.25,2.33,8.80,0.490,6,0.054,0.046,2713,2108,1790,0,0,0,0,0,0
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,-0.2,1.001263
$STATE,2719,end surface coast,CONTROL_FINISHED_OK
$STATE,2719,begin surface
$SM_CCo,2747,95.50,0.068,0,0,961,500.17
$SM_GC,0.63,0.00,0.00,95.50,0.000,0.000,0.068,209,2304,961,-6.90,0.11,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,4719.74,-12406.19,190411,202056
$TT8_MAMPS,0.030709,0.030709
$HUMID,38.97
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.4,0.687
$10V_AH,10.2,1.111
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.525,41.900,333.850,95.500,0.000,29.311,39.089,100.638,0.000,0.000,18.370,1023.439,9.135,439.329,1568.153,145.345,0.000,965.823,0.000,658.946,0.000,0.536,0.000
$DEVICE_MAMPS,268.515,71.145,631.125,68.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,314.548,687.546,1267.614,0.000,0.000,0.000,2765.562,3231.646,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,321416
$DATA_FILE_SIZE,26867,452
$CAP_FILE_SIZE,58198,0
$CFSIZE,260165632,251310080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190411,220134,4743.609,-12224.725,7,2.3,26,18.2